Discharging robot of submerged arc furnace and tapping device thereof

Abstract

The embodiment of the invention provides a submerged arc furnace discharging robot and a hole opening device thereof, and belongs to the technical field of submerged arc furnaces. The hole opening device comprises a drill bit, a drill rod, a detection assembly and a controller; a cooling cavity is formed between the drill bit and the drill rod, and fluid can be introduced into the cooling cavity so as to cool the drill bit; the detection assembly is used for collecting operation data of the hole opening device, and the operation data comprise the temperature of fluid in the cooling cavity and / or an image of a furnace hole of the submerged arc furnace; the controller is in communication connection with the detection assembly and used for correspondingly adjusting the operation state of the drill bit according to the operation data collected by the detection assembly. According to the drilling device provided by the embodiment of the invention, rigidity reduction caused by large-range heating of the drill rod can be avoided.

Description

Technical Field

[0001] This invention relates to the field of submerged arc furnace technology, and more specifically to a submerged arc furnace unloading robot and its eye-opening device. Background Technology

[0002] An electric arc furnace is a type of equipment used for smelting metals. Ore is reduced and melted under high-temperature conditions to obtain the desired metal. During the metal smelting process using an electric arc furnace, the furnace opening needs to be repeatedly sealed and opened to allow the smelted metal to flow out.

[0003] Existing technology uses drilling to open holes. Compared with burning through, drilling has the advantages of better straightness of the hole opening, smooth inner wall of the hole opening, and smaller diameter of the hole opening. However, the drill bit operates slowly in high-temperature environments, and the drilling process cannot be automated. Because the drill bit cannot be withdrawn from the hole opening in time, it will not only contaminate the molten liquid flowing out of the electric arc furnace, i.e. the smelted finished product, but also damage the drill bit due to prolonged contact between the molten liquid and the drill bit, affecting the drill bit's lifespan and work efficiency. Existing technology relies on manual on-site judgment of when to withdraw the drill bit, which can easily cause burns to personnel and create occupational hazards. Summary of the Invention

[0004] During the research process, the inventors of this application discovered that when drilling in a high-temperature environment, on the one hand, the drill bit's heating will reduce its drilling effect, and the drill rod's heating will reduce its rigidity; on the other hand, there are certain safety hazards. For example, when opening a hole in an electric arc furnace, if the timing of the drill rod's withdrawal is not properly controlled, the molten liquid in the furnace may burn the drill bit the moment the hole is drilled through.

[0005] Based on this, a first aspect of the present invention provides an eye-opening device for a submerged arc furnace (SAF) tapping robot. The eye-opening device includes a drill bit, a drill rod, a detection component, and a controller. A cooling chamber is provided between the drill bit and the drill rod, and the cooling chamber can be circulated with fluid to cool the drill bit. The detection component is used to collect operational data of the eye-opening device, wherein the operational data includes the temperature of the fluid in the cooling chamber and / or an image of the SAF tapping hole. The controller is communicatively connected to the detection component and is used to adjust the operational state of the drill bit accordingly based on the operational data collected by the detection component.

[0006] Optionally, the detection component includes a temperature sensor; the temperature sensor is located at the end of the drill rod away from the drill bit, and is used to collect the temperature of the fluid flowing out of the cooling chamber; the controller is used to adjust the operating state of the drill bit accordingly based on the numerical relationship between a preset threshold and the temperature of the fluid flowing out of the cooling chamber collected by the temperature sensor.

[0007] Optionally, the controller is configured to determine a first interval, a second interval, and a third interval based on the preset threshold; when the temperature of the fluid flowing out of the cooling chamber falls within the temperature range represented by the first interval, the controller controls the drill bit to retract and stop operation; when the temperature of the fluid flowing out of the cooling chamber falls within the temperature range represented by the second interval, the controller controls the drill bit to reduce its feed rate; when the temperature of the fluid flowing out of the cooling chamber falls within the temperature range represented by the third interval, the controller controls an alarm to issue a warning; wherein the temperature values ​​corresponding to the second interval are all lower than the temperature values ​​corresponding to the first interval, and the temperature values ​​corresponding to the third interval are all lower than the temperature values ​​corresponding to the second interval.

[0008] Optionally, the preset threshold is determined according to the following formula:

[0009] in, The set temperature reduction range, The coefficient of performance (COD) of the fluid. For fluid velocity, The surface coefficient of the object. It is the sum of the areas of contact between the fluid and the inside of the drill pipe as the fluid flows inside. The temperature of the fluid initially injected into the cooling chamber of the eye-opening device was measured. The preset threshold is the target to be solved.

[0010] Optionally, the controller is further configured to determine the target value based on a preset threshold. and the temperature of the fluid initially injected into the cooling chamber of the eye-opening device. The temperature difference between the two values ​​is used to determine the temperature difference threshold, and the operating status of the drill bit of the eye-opening device is adjusted accordingly based on the temperature difference threshold.

[0011] Optionally, the detection component includes an image sensor for capturing images of the borehole of the submerged arc furnace; the controller is also used to adjust the operating status of the drill bit according to preset conditions and the comparison results of the images of the borehole of the submerged arc furnace captured by the image sensor.

[0012] Optionally, the preset conditions include the color of smoke and fireworks contained in the image; when black smoke appears in the image, the controller does not activate the control measures; when white smoke appears in the image, the controller controls to reduce the feed speed of the drill bit; when white smoke and fireworks appear in the image, the controller controls to reduce the feed speed of the drill bit again, and controls the feed action of the drill bit to change to a high-frequency forward and backward reciprocating motion; when white smoke appears in the image, and the size and brightness of the flame are greater than a preset threshold, the controller controls the drill bit to quickly retract.

[0013] Optionally, the controller is further configured to determine the position of the drill bit based on the image of the furnace eye captured by the image sensor, and adjust the operating status of the drill bit based on the position of the drill bit.

[0014] Optionally, the eye-opening device further includes a porous ball head; the cooling chamber is formed in one end of the drill bit near the drill rod, and a first channel runs through the drill rod; the porous ball head communicates with the first channel and is located in the cooling chamber; fluid in the first channel enters the cooling chamber through the porous structure on the porous ball head.

[0015] Optionally, a flow equalization cavity is formed inside the porous ball head, the porous structure is formed on the surface of the porous ball head and is connected to the flow equalization cavity; the porous ball head has a connecting plane, and an injection port connected to the flow equalization cavity is formed on the connecting plane, the injection port being connected to the outlet of the first channel.

[0016] Optionally, the multiple through holes of the porous structure are arranged in multiple layers along the normal direction of the connecting plane, and the through holes of adjacent layers are staggered; and / or, the multiple through holes of any layer are inclined in the same direction, and the multiple through holes of adjacent layers are inclined in opposite directions, so as to make the fluid form a vortex in the cooling chamber.

[0017] Optionally, a second channel extends through the drill rod and communicates with the cooling chamber for discharging fluid from the cooling chamber; the first channel is located in the center of the drill rod, and the second channel is located on one side of the first channel or surrounds the first channel; wherein the inner diameter of the second channel is proportional to the inner diameter of the first channel, so that the pressure and flow rate of the fluid in the drill rod are within a preset range.

[0018] Optionally, the inner diameter of the first channel It is determined by the following formula:

[0019] Inner diameter of the second channel It is determined by the following formula:

[0020] in, The flow rate of the fluid injected into the first channel; The fluid pressure of the fluid injected into the first channel; and is a coefficient.

[0021] A second aspect of the present invention provides a submerged arc furnace unloading robot, the submerged arc furnace unloading robot including the aforementioned eye-opening device.

[0022] Through the above technical solution, the eye-opening device of the submerged arc furnace exiting robot provided in the embodiments of the present invention can control the overall temperature of the drill rod within a reasonable range, avoid the drill rod being heated over a large area and thus reduce its rigidity, and at the same time reduce its working temperature at the furnace entry end.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the opening device of the submerged arc furnace unloading robot provided in an embodiment of the present invention; Figure 2 This is a control principle diagram of the eye-opening device of the blast furnace unloading robot provided in an embodiment of the present invention; Figure 3 This is another schematic diagram of the opening device of the submerged arc furnace unloading robot provided in the embodiment of the present invention; Figure 4 This is a schematic diagram of the air inlet and air outlet at the end of the drill rod provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the external shape of the porous ball head provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the vortex formed in the cooling cavity inside the drill bit by the porous ball head provided in an embodiment of the present invention; Figure 7 This is a front view of a multi-hole ball head provided in an embodiment of the present invention; Figure 8 yes Figure 7 A schematic diagram of the cross section corresponding to line AA in the middle; Figure 9 yes Figure 7 A schematic diagram of the cross section corresponding to the BB line in the middle.

[0025] Explanation of reference numerals in the attached figures 101. Drill bit 102. Cooling chamber 103. Drill pipe 104. Second opening 105. Drive unit 106. Temperature sensor 107. First Opening 108. First Passage 109. Second Channel 110. Multi-hole ball head 111. Through hole 112. Injection port 113. Uniform Flow Cavity Detailed Implementation The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0026] Example 1 Figure 1 This is a schematic diagram of the opening device of the submerged arc furnace unloading robot provided in an embodiment of the present invention. Figure 2 This is a control principle diagram of the eye-opening device of the submerged arc furnace unloading robot provided in an embodiment of the present invention, as shown below. Figure 1 and Figure 2 As shown, the eye-opening device of the submerged arc furnace tapping robot includes: a drill bit 101, a drill rod 103, a detection component, and a controller; a cooling chamber 102 is provided between the drill bit 101 and the drill rod 103, and the cooling chamber 102 can be circulated with fluid to cool the drill bit 101; the detection component is used to collect the operation data of the eye-opening device, wherein the operation data includes the temperature of the fluid in the cooling chamber 102 and / or an image of the eye of the submerged arc furnace; and the controller is communicatively connected to the detection component and is used to adjust the operation status of the drill bit 101 accordingly based on the operation data collected by the detection component.

[0027] Specifically, the fluid is any cooling medium, whether gas or liquid, such as cooling water, compressed air, or a chemical solution. The drill rod 103 has a first opening 107 and a second opening 104 at its end. Fluid is injected into the drill rod 103 through the first opening 107. During the fluid's movement, it exchanges heat with the drill bit 101 and the drill rod 103, thereby cooling the drill bit 101 and the drill rod 103. After the heat exchange, the fluid exits the drill rod 103 through the second opening 104.

[0028] Specifically, the controller can be a programmable controller, a microcontroller, or a host computer, etc. In other embodiments of the present invention, other types of controllers can also be selected according to the actual situation, but the present invention is not limited thereto.

[0029] The eye-opening device of the submerged arc furnace unloading robot provided in this embodiment of the invention can control the overall temperature of the drill rod within a reasonable range, avoid the drill rod being heated over a large area and thus reduce its rigidity, and at the same time reduce its working temperature at the furnace inlet.

[0030] In some embodiments, the eye-opening device further includes a drive device 105, which is used to provide working power to the drill bit 101. The drive device 105 is preferably a rock drill.

[0031] In some embodiments, the eye-opening device is also connected to a cooling device, which is connected to the end of the drill rod 103 and is used to inject fluid into the cooling chamber 102.

[0032] The cooling device can be an air-cooled cooler or a water-cooled cooler. The air-cooled cooler is used to inject low-temperature compressed air into the cooling chamber 102, and the water-cooled cooler is used to inject cooling water into the cooling chamber 102.

[0033] In some embodiments, the controller can be set Figure 2 Inside the control cabinet shown.

[0034] Specifically, the hole-opening device is mainly used to drill holes at designated locations corresponding to the target. For example, during the operation of an electric arc furnace, it is necessary to repeatedly seal and open the furnace hole.

[0035] In some embodiments, the detection component includes a temperature sensor 106; the temperature sensor 106 is located at the end of the drill rod 103 away from the drill bit 101, and is used to collect the temperature of the fluid flowing out of the cooling chamber 102; the controller is used to adjust the operating state of the drill bit 101 accordingly based on the numerical relationship between a preset threshold and the temperature of the fluid flowing out of the cooling chamber 102 collected by the temperature sensor 106.

[0036] Specifically, the temperature sensor 106 can use a thermocouple sensor, a thermistor sensor, or an infrared sensor to measure the fluid temperature.

[0037] In some embodiments, the controller is configured to determine a first interval, a second interval, and a third interval based on the preset threshold; when the temperature of the fluid flowing out of the cooling chamber 102 falls within the temperature range represented by the first interval, the controller controls the drill bit 101 to retract and stop operation; when the temperature of the fluid flowing out of the cooling chamber 102 falls within the temperature range represented by the second interval, the controller controls the drill bit 101 to reduce its feed rate; when the temperature of the fluid flowing out of the cooling chamber 102 falls within the temperature range represented by the third interval, the controller controls an alarm to issue a warning; wherein the temperature values ​​corresponding to the second interval are all lower than the temperature values ​​corresponding to the first interval, and the temperature values ​​corresponding to the third interval are all lower than the temperature values ​​corresponding to the second interval.

[0038] In some embodiments, the preset threshold is determined according to the following formula:

[0039] in, The set temperature reduction range, The coefficient of performance (COD) of the fluid. For fluid velocity, The surface coefficient of the object. It is the sum of the areas of contact between the fluid and the interior of the drill pipe 103 when the fluid flows inside the drill pipe 103. The temperature of the fluid initially injected into the cooling chamber 102 of the eye-opening device was measured. The preset threshold is the target to be solved.

[0040] In some embodiments, the controller is further configured to determine the target to be solved based on a preset threshold. and the temperature of the fluid initially injected into the cooling chamber 102 of the eye-opening device. The temperature difference between the two values ​​is used to determine the temperature difference threshold, and the operating status of the drill bit 101 of the eye-opening device is adjusted accordingly based on the temperature difference threshold.

[0041] Furthermore, taking the scenario of using an eye-opening device to open an eye in a submerged arc furnace as an example, the process of solving the preset threshold is explained in detail. The eye-opening device uses air as the fluid cooling medium, and the drill bit 101 is made of M35 (high-speed steel).

[0042] Considering the working life of drill bit 101, its working temperature is set to 700℃. The furnace outlet temperature is 1600℃, therefore we can set the temperature reduction range. , At this point, drill bit 101 is in contact with the hot molten liquid. Since the fluid cooling medium used in the eye-opening device is air, the fluid cooling coefficient can be the air cooling coefficient, and the fluid velocity can be the wind speed.

[0043] Set the air cooling coefficient The wind speed is 0.5. The surface coefficient of the object is 30 m / s. The value is 0.5, which is the sum of the contact areas between the fluid and the inside of the drill pipe 103 when the fluid flows inside the drill pipe 103. The area is 10 square meters. The initial gas temperature injected into the first opening 107 of the eye-opening device was measured. The target threshold can be calculated using the preset threshold calculation formula. Taking into account the delays in software calculations and control, as well as the impact of temperature conduction rate, the preset threshold was ultimately set to 57℃.

[0044] Furthermore, when the preset threshold is 57℃, the first interval is determined to be greater than or equal to 57℃, the second interval is determined to be between 54.2℃ and 57℃, and the third interval is determined to be between 51.3℃ and 54.2℃.

[0045] It should be noted that the preset thresholds for other types of fluid cooling media, such as liquids, can also be calculated using the same formula as the preset thresholds mentioned above.

[0046] In some embodiments, a temperature sensor 106 is also provided at the first opening 107 of the eye-opening device for measuring the temperature of the fluid initially injected into the first opening 107.

[0047] Furthermore, the heat exchange can be calculated by monitoring changes in inlet and outlet temperatures, and the calculated theoretical values ​​can be used as a reference to formulate and implement corresponding control strategies.

[0048] For example, measuring the initial gas temperature injected into the first opening 107 of the eye-opening device. The target threshold can be calculated using the preset threshold calculation formula. Calculations show that 32.9℃ is the temperature difference threshold (i.e., the warning threshold). When the temperature difference between the inlet and outlet of the opening device reaches 32.9℃, it means that the drill bit 101 is in contact with the molten metal. Based on the temperature difference threshold (i.e., the warning threshold) of 32.9℃, the control strategy can be set as follows: Real-time monitoring and calculation of the inlet and outlet temperature difference of the eye-opening device , when When the temperature is less than or equal to 26.3℃, drill bit 101 operates normally, and the controller does not activate control measures. when Between 26.3℃ and 29.2℃, drill bit 101 operates normally, and the controller controls the alarm to give a corresponding prompt, indicating that the hole is almost open and can be used normally. when Between 29.2℃ and 32℃, the controller will activate the alarm to provide a corresponding alert, while simultaneously reducing the feed speed of drill bit 101 and changing the feed action of drill bit 101 to frequent advance and push, so as to exit in time.

[0049] In some embodiments, the detection component includes an image sensor for capturing images of the borehole of the submerged arc furnace; the controller is further configured to adjust the operating state of the drill bit 101 accordingly based on preset conditions and a comparison of the images captured by the image sensor at the borehole of the submerged arc furnace. Please refer to... Figure 2 The image sensor can be a camera.

[0050] The preset conditions include the smoke color and fireworks contained in the image, and the specific control measures will be adjusted accordingly based on the actual operating conditions. For example, in some embodiments, the preset control measures are: When only black smoke is detected, the controller does not activate control measures, considering that the black smoke may simply be dust generated during drilling operations. When white smoke is detected, the controller reduces the feed rate of drill bit 101. When white smoke and flames are detected at the same time, which means that the furnace hole is about to be opened, the controller controls the feed speed of drill bit 101 to be reduced again, and controls the feed action of drill bit 101 to change to high-frequency forward and backward reciprocating motion. When white smoke is detected, and the size and brightness of the flame exceed a preset threshold, the controller controls the drill bit 101 to exit quickly.

[0051] In some embodiments, the controller is further configured to determine the position of the drill bit 101 based on an image of the borehole of the submerged arc furnace captured by an image sensor, and to make more precise adjustments to the operating status of the drill bit 101 based on the position of the drill bit 101. For example, it may determine whether the drill bit 101 is close to the molten metal based on the image; if it is close to the molten metal, it may control the drill bit 101 to retract in a timely manner.

[0052] The eye-opening device of the submerged arc furnace unloading robot provided in this embodiment of the invention can, on the one hand, recover the cooling medium after heat exchange, preventing the cooling medium from contacting the refractory material of the target eye and causing an oxidation reaction, thereby improving the service life of the furnace eye. On the other hand, it can control the overall temperature of the drill rod 103 within a reasonable range, preventing the drill rod 103 from being heated over a large area and causing a decrease in rigidity, while also reducing its working temperature at the furnace inlet.

[0053] Example 2 Example 2 is based on Example 1. Figure 3 This is another structural schematic diagram of the eye-opening device of the submerged arc furnace unloading robot provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the eye-opening device of the submerged arc furnace tapping robot also includes a porous ball head 110; the cooling chamber 102 is formed in one end of the drill bit 101 near the drill rod 103, and a first channel 108 is passed through the drill rod 103; the porous ball head 110 communicates with the first channel 108 and is located in the cooling chamber 102; the fluid in the first channel 108 enters the cooling chamber 102 through the porous structure on the porous ball head 110.

[0054] Figure 5 This is a schematic diagram of the external shape of the porous ball head provided in an embodiment of the present invention, as shown below. Figure 3 and Figure 5 As shown, a flow equalization cavity 113 is formed inside the porous ball head 110. The porous structure is formed on the surface of the porous ball head 110 and is connected to the flow equalization cavity 113. The porous ball head 110 has a connecting plane, and an injection port 112 connected to the flow equalization cavity 113 is formed on the connecting plane. The injection port 112 is connected to the outlet of the first channel 108.

[0055] In some embodiments, the plurality of through holes 111 of the porous structure are arranged in multiple layers along the normal direction of the connecting plane, and the through holes 111 of adjacent layers are staggered; and / or, the plurality of through holes 111 in any layer are inclined in the same direction, and the plurality of through holes 111 in adjacent layers are inclined in opposite directions, so as to allow the fluid to form a certain shape within the cooling chamber 102. Figure 6 The vortex shown.

[0056] Reference Figure 5 The porous ball head 110 can be a sphere, ellipsoid, or any curved sphere shape in a certain proportion, such as a 1 / 2 sphere, a 3 / 4 sphere, or a 3 / 5 ellipsoid.

[0057] In some embodiments, Figure 7 This is a front view of a multi-hole ball head provided in an embodiment of the present invention; Figure 8 yes Figure 7 A schematic diagram of the cross section corresponding to line AA in the middle; Figure 9 yes Figure 7 A schematic diagram of the cross section corresponding to the BB line in the middle.

[0058] Reference Figure 7 , Figure 8 and Figure 9 The through holes 111 between adjacent layers are arranged alternately on the surface of the ball head, for example... Figure 7Two layers of through holes 111 are set between the AA line and the BB line.

[0059] like Figure 7 As shown, the plurality of through holes 111 are distributed on the surface of the porous ball head 110 in a multi-layer through hole structure, wherein the through holes 111 contained in each layer of through holes 111 have different orientations, so that the fluid flowing out of the layer of through holes 111 is scattered, for example Figure 7 Multiple through holes 111 are provided between lines AA and between lines BB.

[0060] Reference Figure 8 , Figure 9 The through holes 111 arranged along line AA or line BB are all inclined in the same direction, and the inclination directions of adjacent layers of through holes 111 arranged along lines AA and BB are opposite, so as to allow the fluid to form in the cooling chamber. Figure 6 The vortex shown improves cooling efficiency.

[0061] It should be noted that in other embodiments of the present invention, the through hole 111 may not be inclined, or may adopt other inclined angles, as long as the cooling efficiency can be improved, the present invention is not limited thereto.

[0062] In some embodiments, the multiple through holes 111 correspond to the same hole diameter and hole depth. Here, hole direction, hole diameter, and hole depth are technical terms in the fields of machining and engineering, commonly used to describe the characteristics and parameters of a hole.

[0063] Furthermore, aperture refers to the diameter of the hole, which determines the maximum size of object that the hole can pass through. Hole depth refers to the depth of the hole from the inlet to the bottom. Hole orientation refers to the direction of the hole in space; in machining, hole orientation refers to the hole's position or angle relative to the rest of the workpiece. For example, when drilling, the hole's orientation needs to be precisely controlled to ensure it meets design requirements.

[0064] In some embodiments, a second channel 109 extends through the drill rod 103 and communicates with the cooling chamber 102 for discharging fluid from the cooling chamber 102; the first channel 108 is located in the center of the drill rod 103, and the second channel 109 is located on one side of the first channel 108 or surrounds the first channel 108; wherein the inner diameter of the second channel 109 is proportional to the inner diameter of the first channel 108, so that the pressure and flow rate of the fluid in the drill rod 103 are within a preset range.

[0065] In some embodiments, the inner diameter of the first channel 108 It is determined by the following formula:

[0066] Inner diameter of the second channel 109 It is determined by the following formula:

[0067] in, The flow rate of the fluid injected into the first channel 108; The fluid pressure of the fluid injected into the first channel 108; and is a coefficient.

[0068] In some embodiments, The preferred value is 0.28; The preferred value is 0.6; The preferred value is 0.5.

[0069] It should be noted that the number of first channel 108 and second channel 109 can be adjusted according to the actual operation scenario.

[0070] Figure 4 This is a schematic diagram of the air inlet and outlet at the end of the drill rod 103 provided in an embodiment of the present invention, as shown below. Figure 4 As shown, fluid is injected into the first channel 108 through the first opening 107, and then from the first channel 108 into the flow equalization chamber 113 of the porous ball head 110 through the injection port 112. Subsequently, it flows out through multiple through holes 111 of the porous ball head 110 into the cooling chamber 102 to cool the drill bit 101. Then, it flows from the cooling chamber 102 into three second channels 109 to cool the drill rod 103. Finally, the drill rod 103 is discharged from the second openings 104 respectively provided on the three second channels 109. One first channel 108 and three second channels 109 form a four-way flow (one inlet and three outlets). During the fluid's movement, the cooling fluid exchanges heat with the drill bit 101 and the drill rod 103, thereby cooling the drill bit 101 and the drill rod 103.

[0071] In some embodiments, the diameters of the first opening 107 and the second opening 104 are proportional (see reference). Figure 4 This design ensures that the pressure and flow rate of the fluid inside the drill pipe 103 are within a certain range, improving heat exchange efficiency. Furthermore, the nominal diameter refers to the cross-sectional area of ​​the first opening 107 or the second opening 104, and the corresponding nominal diameter can be determined based on the diameter of the first opening 107 or the second opening 104.

[0072] This invention also provides a submerged arc furnace unloading robot, which includes the aforementioned eye-opening device.

[0073] The eye-opening device of the electric arc furnace unloading robot provided in this embodiment of the invention can withdraw the drill bit and stop the operation the moment the hole is drilled through, thereby solving the problem that the molten liquid in the electric arc furnace will burn the drill bit after the hole is drilled through.

[0074] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An eye-opening device for a submerged arc furnace unloading robot, characterized in that, The eye-opening device includes a drill bit, a drill rod, a detection component, and a controller; A cooling chamber is provided between the drill bit and the drill rod, and fluid can be introduced into the cooling chamber to cool the drill bit; The detection component is used to collect operational data of the opening device, wherein the operational data includes the temperature of the fluid in the cooling chamber and / or an image of the furnace eye of the submerged arc furnace. as well as The controller is communicatively connected to the detection component and is used to adjust the operating status of the drill bit according to the operating data collected by the detection component.

2. The eye-opening device according to claim 1, characterized in that, The detection component includes a temperature sensor; The temperature sensor is located at the end of the drill rod away from the drill bit and is used to collect the temperature of the fluid flowing out of the cooling chamber. The controller is used to adjust the operating status of the drill bit according to the numerical relationship between a preset threshold and the temperature of the fluid flowing out of the cooling chamber collected by the temperature sensor.

3. The eye-opening device according to claim 2, characterized in that, The controller is used to determine the first interval, the second interval, and the third interval based on the preset threshold. When the temperature of the fluid flowing out of the cooling chamber falls within the temperature range represented by the first interval, the controller controls the drill bit to retract and stop operation; When the temperature of the fluid flowing out of the cooling chamber falls within the temperature range represented by the second interval, the controller controls the drill bit to reduce the feed rate; When the temperature of the fluid flowing out of the cooling chamber falls into the temperature range represented by the third interval, the controller controls the alarm to issue a warning. The temperature values ​​corresponding to the second interval are all lower than the temperature values ​​corresponding to the first interval, and the temperature values ​​corresponding to the third interval are all lower than the temperature values ​​corresponding to the second interval.

4. The eye-opening device according to claim 2, characterized in that, The preset threshold is determined according to the following formula: in, The set temperature reduction range, The coefficient of performance (COD) of the fluid. For fluid velocity, The surface coefficient of the object. It is the sum of the areas of contact between the fluid and the inside of the drill pipe as the fluid flows inside. The temperature of the fluid initially injected into the cooling chamber of the eye-opening device was measured. The preset threshold is the target to be solved.

5. The eye-opening device according to claim 4, characterized in that, The controller is also configured to determine the target value based on a preset threshold. and the temperature of the fluid initially injected into the cooling chamber of the eye-opening device. The temperature difference between the two values ​​is used to determine the temperature difference threshold, and the operating status of the drill bit of the eye-opening device is adjusted accordingly based on the temperature difference threshold.

6. The eye-opening device according to claim 1, characterized in that, The detection component includes an image sensor, which is used to capture images of the borehole of the submerged arc furnace. The controller is also used to adjust the operating status of the drill bit according to the comparison results of preset conditions and the image of the furnace eye captured by the image sensor.

7. The eye-opening device according to claim 6, characterized in that, The preset conditions include the smoke color and fireworks contained in the image; When black smoke appears in the image, the controller does not activate control measures; When white smoke appears in the image, the controller reduces the drill bit's feed rate. When white smoke and fireworks appear in the image, the controller controls the feed rate of the drill bit to be reduced again, and controls the feed action of the drill bit to change to a high-frequency forward and backward reciprocating motion. When white smoke appears in the image, and the size and brightness of the flame exceed a preset threshold, the controller controls the drill bit to exit quickly.

8. The eye-opening device according to claim 6, characterized in that, The controller is also used to determine the position of the drill bit based on the image of the furnace eye captured by the image sensor, and to adjust the operating status of the drill bit based on the position of the drill bit.

9. The eye-opening device according to claim 1, characterized in that, The eye-opening device also includes a porous ball head; The cooling chamber is formed in one end of the drill bit near the drill rod, and a first channel runs through the drill rod; the porous ball head communicates with the first channel and is located in the cooling chamber; the fluid in the first channel enters the cooling chamber through the porous structure of the porous ball head.

10. The eye-opening device according to claim 9, characterized in that, A flow equalization cavity is formed inside the porous ball head. The porous structure is formed on the surface of the porous ball head and is connected to the flow equalization cavity. The porous ball head has a connecting plane, and an injection port connected to the flow equalization cavity is formed on the connecting plane. The injection port is connected to the outlet of the first channel.

11. The eye-opening device according to claim 10, characterized in that, The porous structure has multiple through holes arranged in multiple layers along the normal direction of the connecting plane, with the through holes in adjacent layers being staggered; and / or, Multiple through holes in any layer are inclined in the same direction, and multiple through holes in adjacent layers are inclined in opposite directions, so as to make the fluid form a vortex in the cooling chamber.

12. The eye-opening device according to claim 9, characterized in that, The drill rod also has a second channel running through it and communicating with the cooling chamber for discharging fluid from the cooling chamber; the first channel is located in the center of the drill rod, and the second channel is located on one side of the first channel or is arranged around the first channel; The inner diameter of the second channel is proportional to the inner diameter of the first channel, so that the pressure and flow rate of the fluid in the drill pipe are within a preset range.

13. The eye-opening device according to claim 12, characterized in that, Inner diameter of the first channel It is determined by the following formula: Inner diameter of the second channel It is determined by the following formula: in, The flow rate of the fluid injected into the first channel; The fluid pressure of the fluid injected into the first channel; and is a coefficient.

14. A robot for unloading from a submerged arc furnace, characterized in that, The submerged arc furnace unloading robot includes the eye-opening device described in any one of claims 1-13.

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